The target object is loaded with an active drive platform and its suspension self-protection structure.

Abstract

This invention discloses a target loading active drive platform and its suspension self-protection structure. The target loading active drive platform includes a chassis and a cover plate. The surface of the cover plate is provided with a fixing frame for fixing the load. The chassis is provided with front wheels, rear wheels, a motor for driving the rear wheels to rotate, a steering mechanism for driving the front wheels to steer, and a suspension self-protection structure. The suspension self-protection structure includes a universal joint, a follow-up cylinder, and a swing arm. The rear wheels are also provided with a pressure-bearing fast braking structure. A drive cylinder for activating the pressure-bearing fast braking structure is provided above the axle of the rear wheels. The target loading active drive platform of this invention has a small thickness, which can realize realistic simulation of dummy walking. At the same time, it is provided with a pressure-resistant component, so that the wheels can retract into the chassis when the cover plate is subjected to heavy pressure, which is used to prevent the chassis from being pressed to the bottom of the vehicle and causing the suspension to break.

Description

Technical Field

[0001] This invention relates to the field of unmanned driving testing technology, and in particular to a target loading active drive platform and its suspension self-protection structure. Background Technology

[0002] ADAS (Advanced Driving Assistance System) utilizes various sensors installed in the vehicle (millimeter-wave radar, lidar, monocular / dual-lens cameras, and satellite navigation) to continuously sense the surrounding environment while the car is in motion, collect data, identify, detect, and track static and dynamic objects, and combine this with navigation map data to perform system calculations and analyses. This allows the driver to anticipate potential dangers, effectively increasing driving comfort and safety.

[0003] The dummy target is mainly used in vehicle driving tests to simulate pedestrians. It tests the response of the vehicle's driver assistance system to collisions that may occur due to the relative motion between the vehicle and the target. The dummy has physical attributes such as body size, visual appearance, radar reflectivity, and infrared characteristics that are close to those of a real person. Currently, the pedestrian dummies used in the test do not have the ability to move on the ground and must be used in conjunction with a matching drive platform during the test.

[0004] There are two main types of mobile platforms used in existing vehicle testing for loading dummy targets. One type is without a drive unit, which is pulled by a rope. This type is cumbersome to install and debug before testing, and its function is limited to driving the dummy target to move in a straight line. The other type is an AGV-based platform that integrates a drive system, control equipment, GPS positioning, and networking functions. This type of product can control movement along any path and has a wide range of application testing scenarios.

[0005] When loading dummy targets onto existing platforms, the entire platform is raised more than 85mm off the ground. The thickness of the structure causes the radar reflection characteristics to exceed the standard, making it impossible to realistically simulate the same physical properties as pedestrians. This results in the inability to conduct effective simulations of related tests. Furthermore, when the mobile platform collides during testing, it is prone to suspension breakage due to the pressure of heavy objects, leading to test interruption. Repair is difficult and costly, resulting in high test costs. Summary of the Invention

[0006] The purpose of this invention is to reduce the problem of thick structures in existing target loading active drive platforms being damaged by heavy pressure during operation, and to propose a target loading active drive platform and its suspension self-protection structure.

[0007] To achieve the above objectives, the present invention adopts the following technical solution:

[0008] The target loading active drive platform includes a chassis and a cover plate, with the cover plate covering the chassis. The chassis is equipped with a drive assembly for moving the entire platform; specifically, the chassis includes front wheels, rear wheels, a motor for driving the rear wheels, and a steering mechanism for steering the front wheels. A mounting bracket is provided on the surface of the cover plate for securing the load. The active drive platform of this invention is used to impart movement speed to the load (dummy) during vehicle driving tests. In the event of a collision between the load and the vehicle, the active drive platform can detach from under the vehicle.

[0009] During vehicle driving tests, in order to prevent the chassis from being pressed against the bottom of the vehicle and causing the suspension to break, the chassis is also equipped with a suspension self-protection structure. The suspension self-protection structure can retract the front and rear wheels into the chassis when the cover plate is subjected to heavy pressure, thus avoiding damage to the support components of the front and rear wheels.

[0010] Specifically, the suspension self-protection structure includes a universal joint, a rear follower cylinder, a rear swing arm, a front follower cylinder, and a front swing arm. The rear wheel axle is connected to the motor output via the universal joint, which allows the axle to change position accordingly when the rear wheel is under pressure, maintaining power transmission. The axle is movably connected to the chassis via the rear follower cylinder and the rear swing arm, and the front wheel is movably connected to the chassis via the front follower cylinder and the front swing arm. The rear follower cylinder and the rear swing arm support the rear wheel axle, and the front follower cylinder and the front swing arm support the front wheel axle. When the cover plate is under heavy pressure, the two follower cylinders can pull the corresponding wheel axle to move its position, causing the front and rear wheels to retract into the chassis.

[0011] Furthermore, the rear wheel is equipped with an internal support structure, which includes a gear ring, an intermediate gear, and an internal gear. The intermediate gear meshes with both the gear ring and the internal gear. The gear ring is fixedly connected to the inner ring of the rear wheel, and the internal gear is fixedly sleeved onto the inner sleeve on the wheel axle. Intermediate wheel plates are provided at both ends of the intermediate gear, and the intermediate gear and intermediate wheel plates are rotatably connected via an intermediate shaft. The intermediate wheel plates are rotatably connected to the wheel axle. A limiting structure is provided between the intermediate wheel plates and the wheel axle on the chassis. Several reverse braking cylinders are evenly distributed around the cylindrical side of the intermediate wheel plates, and a reverse braking pad is provided at the working end of each reverse braking cylinder. A brake block is provided above the rear wheel on the chassis.

[0012] During normal operation, the intermediate wheel plate is fixedly connected to the axle. The axle drives the internal gear to rotate, which in turn drives the gear ring and rear wheels to rotate via the intermediate gear. When the front and rear wheels retract into the chassis, the motor cuts off power output. The rear wheels engage with the brake pads, and the intermediate wheel plate rotates to the axle. The rotational inertia of the axle causes the intermediate wheel plate to rotate in the opposite direction to the gear ring. Simultaneously, the reverse brake cylinder extends, and the reverse brake pads extend from the side of the intermediate wheel plate. The reverse brake pads contact the ground, generating friction to reduce the inertia of the flatbed and quickly bring it to a stop, thus reducing friction between the chassis and the ground.

[0013] Preferably, the reverse brake pad is an elastic arc plate, which can reduce the vibration impact on the intermediate wheel plate when the reverse brake pad contacts the ground.

[0014] Preferably, the intermediate wheel plate on one side of the intermediate gear is rotatably connected to the wheel axle via a follower wheel plate bracket. The intermediate wheel plate on the other side of the intermediate gear is rotatably connected to the wheel axle via a drive wheel plate bracket. A limiting sleeve is fixedly sleeved on the wheel axle. A limiting ring matching the outer ring of the limiting sleeve is provided on the drive wheel plate bracket. A limiting cylinder for engaging and disengaging the limiting ring from the limiting sleeve is provided inside the limiting ring. A contact block is provided at the working end of the limiting cylinder. When the limiting cylinder extends, the contact block engages with the limiting sleeve, and the intermediate wheel plate is fixedly connected to the wheel axle; when the limiting cylinder retracts, the contact block disengages from the limiting sleeve, and the intermediate wheel plate is rotatably connected to the wheel axle.

[0015] The target object loading active drive platform is also equipped with drive cylinders for driving the limit cylinder and the reverse braking cylinder. The air outlet hose of the drive cylinder is connected to the air inlet of the limit cylinder and the reverse braking cylinder through the air ring groove inside the active wheel plate bracket. A rotating plate is installed outside the air ring groove of the active wheel plate bracket, and the rotating plate is rotatably sealed to the air ring groove. The rotating plate is fixedly connected to one end of the air outlet hose to adapt to the rotation or fixed state of the intermediate wheel plate and maintain normal air supply to the air ring groove.

[0016] Preferably, the drive cylinder contains an upper part of a starter rod, a piston, and a return spring. The lower end of the starter rod has a starter block corresponding to the wheel axle position, and the upper end of the starter rod is fixedly connected to the piston. A return spring is positioned between the piston and the top of the drive cylinder. A lower limit ring is positioned below the piston, and an upper limit ring is positioned above the piston. When the drive platform moves normally, the return spring keeps the piston on the upper surface of the upper limit ring; when the wheel retracts into the chassis, the piston moves to the lower surface of the lower limit ring.

[0017] Furthermore, the upper space of the upper limit ring is connected to the gas ring groove via an exhaust hose. The exhaust hose, at its connection point with the drive cylinder, has two branch lines: an intake pipe and an exhaust pipe. A one-way intake valve is installed on the intake pipe, and a high-pressure one-way exhaust valve is installed on the exhaust pipe. The opening pressure of the high-pressure one-way exhaust valve is greater than that of the one-way intake valve. When the piston moves to the lower surface of the lower limit ring, the high-pressure one-way exhaust valve directs the high-pressure gas inside the drive cylinder into the exhaust hose in one direction. When the piston returns to its original position, the one-way intake valve directs the gas in the exhaust hose into the drive cylinder in one direction.

[0018] Preferably, a roller is provided below the starting block to reduce friction between the axle and the starting block.

[0019] As the front and rear wheels retract into the chassis, the axle pushes the starter block and starter rod upwards. The piston compresses the gas in the space above the piston, increasing the gas pressure. When the piston moves to the lower surface of the lower limit ring, the high-pressure one-way exhaust valve opens, directing the high-pressure gas inside the drive cylinder into the exhaust hose. Through the exhaust hose, the gas inside the drive cylinder enters the reverse braking cylinder and the limit cylinder. The reverse braking cylinder extends, and the reverse brake pads extend from the side of the intermediate wheel plate. The limit cylinder retracts, the contact block separates from the limit sleeve, and the intermediate wheel plate rotates to connect with the axle.

[0020] When the front and rear wheels are reset, the relative position of the wheel axle drops, the return spring pushes the piston down, negative pressure is generated in the space above the piston, the gas inside the reverse braking cylinder and the limit cylinder is discharged, the reverse braking cylinder contracts, the reverse braking pad retracts into the middle wheel plate, the limit cylinder extends, the contact block engages with the limit sleeve, and the middle wheel plate is fixedly connected to the wheel axle.

[0021] The beneficial effects of this invention are:

[0022] 1. The target object is equipped with a thin active drive platform, which can realize realistic simulation of dummy walking. At the same time, it is equipped with a suspension self-protection structure, which allows the wheels to retract into the chassis when the cover plate is subjected to heavy pressure, in order to prevent the chassis from being pressed to the bottom of the vehicle and causing the suspension to break.

[0023] 2. To complement the function of the suspension self-protection structure, an inner support structure is also set at the rear wheel. After the wheels of the active drive platform loaded on this target are compressed into the chassis, the rear wheels are braked, the rotation function of the intermediate wheel plate is released, and the reverse brake pads extend from the side of the intermediate wheel plate. The reverse brake pads contact the ground to generate friction, reduce the inertia of the flat plate, and cause the flat plate to stop moving quickly, thereby reducing the friction between the chassis 1 and the ground and protecting the chassis.

[0024] 3. The starting of the internal support structure in the rear wheel of the active drive platform of this target object is achieved through closed air pressure control, which can be achieved even without power supply, and has good applicability. Attached Figure Description

[0025] Figure 1 A schematic diagram of the external structure for mounting an active drive platform on this target object;

[0026] Figure 2 A side view of the structure of the active drive platform mounted on the target object;

[0027] Figure 3 A schematic diagram of the bottom structure of the active drive platform mounted on this target object;

[0028] Figure 4 A schematic diagram of the structure at the chassis of the active drive platform for this target object;

[0029] Figure 5 A structural diagram of the rear wheel area of ​​the active drive platform chassis for mounting this target object;

[0030] Figure 6 A schematic diagram of the structure at the rear wheel of the active drive platform mounted on this target object;

[0031] Figure 7 A schematic diagram of the structure on the side of the rear wheel of the active drive platform mounted on this target object;

[0032] Figure 8 A schematic diagram of the structure at the center wheel plate of the rear wheel of the active drive platform installed on this target object;

[0033] Figure 9 A schematic diagram of the structure at point A of the rear wheel of the active drive platform mounted on this target object;

[0034] Figure 10 A schematic diagram showing the connection between the drive cylinder of the active drive platform and the internal cylinder of the intermediate wheel plate for this target object.

[0035] In the diagram: 1. Chassis; 2. Cover plate; 3. Fixing frame; 4. Front wheel; 5. Rear wheel; 6. Motor; 7. Universal joint; 8. Axle; 9. Drive cylinder; 10. Oil outlet hose; 11. Brake block; 401. Front follower cylinder; 402. Front swing arm; 501. Rear follower cylinder; 502. Rear swing arm; 51. Gear ring; 52. Intermediate gear; 53. Internal gear; 54. Intermediate shaft; 55. Intermediate wheel plate; 56. Reverse brake cylinder; 57. Reverse brake pad; 81. Inner sleeve; 82. Follower wheel plate bracket; 83. Limit sleeve; 84. Limit ring; 85. Drive wheel plate bracket; 86. Rotating plate; 841. Limit cylinder; 842. Contact block; 851. Oil ring groove; 91. Starting block; 92. Starting rod; 93. Piston; 94. Return spring; 95. Lower limit ring; 96. Upper limit ring; 101. One-way intake valve; 102. High-pressure one-way exhaust valve. Detailed Implementation

[0036] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0037] Example 1

[0038] refer to Figure 1-5The target loading active drive platform includes a chassis 1 and a cover plate 2, with the cover plate 2 covering the chassis 1. The chassis 1 is equipped with a drive assembly for moving the entire platform. Specifically, the chassis 1 includes front wheels 4, rear wheels 5, a motor 6 for driving the rear wheels 5 to rotate, and a steering mechanism for steering the front wheels 4. A fixing frame 3 is provided on the surface of the cover plate 2 for securing the load. The active drive platform of this invention is used to provide the load (dummy) with a moving speed during vehicle driving tests. When the load collides with the vehicle, the active drive platform can detach from under the vehicle.

[0039] In the vehicle driving test, in order to prevent the chassis from being pressed to the bottom of the vehicle and causing the suspension to break, the chassis 1 is also equipped with a suspension self-protection structure. When the cover plate 2 is subjected to heavy pressure, the suspension self-protection structure can cause the front wheel 4 and the rear wheel 5 to retract into the chassis 1, so as to avoid damage to the support components of the front wheel 4 and the rear wheel 5.

[0040] Specifically, the suspension self-protection structure includes a universal joint 7, a rear follower cylinder 501, a rear swing arm 502, a front follower cylinder 401, and a front swing arm 402. The axle 8 of the rear wheel 5 is connected to the output end of the motor 6 via the universal joint 7. The universal joint 7 allows the axle 8 to change position accordingly when the rear wheel 5 is under pressure, maintaining power transmission. The axle 8 is movably connected to the chassis 1 via the rear follower cylinder 501 and the rear swing arm 502. The front wheel 4 is movably connected to the chassis 1 via the front follower cylinder 401 and the front swing arm 402. The rear follower cylinder 501 and the rear swing arm 502 support the axle 8 of the rear wheel 5, and the front follower cylinder 401 and the front swing arm 402 support the axle of the front wheel 4. When the cover plate 2 is under heavy pressure, the two follower cylinders can pull the corresponding axles to move, causing the front wheel 4 and the rear wheel 5 to retract into the chassis 1.

[0041] Example 2

[0042] Unlike Embodiment 1, to complement the function of the suspension self-protection structure, the rear wheel 5 is equipped with an internal support structure, as shown in the reference. Figure 6-8 The internal support structure includes a gear ring 51, an intermediate gear 52, and an internal gear 53. The intermediate gear 52 meshes with both the gear ring 51 and the internal gear 53. The gear ring 51 is fixedly connected to the inner ring of the rear wheel 5. The internal gear 53 is fixedly sleeved on the inner sleeve 81 of the wheel axle 8. Intermediate wheel plates 55 are provided at both ends of the intermediate gear 52. The intermediate gear 52 and the intermediate wheel plates 55 are rotatably connected via an intermediate shaft 54. The intermediate wheel plates 55 are rotatably connected to the wheel axle 8. A limiting structure is provided between the intermediate wheel plates 55 and the wheel axle 8 on the chassis 1. A plurality of reverse braking cylinders 56 are evenly arranged around the cylindrical side of the intermediate wheel plates 55. A reverse braking pad 57 is provided at the working end of each reverse braking cylinder 56. A brake block 11 is provided above the rear wheel 5 on the chassis 1.

[0043] During normal operation, the intermediate wheel plate 55 is fixedly connected to the axle 8. The axle 8 drives the internal gear 53 to rotate, which in turn drives the gear ring 51 and the rear wheel 5 to rotate via the intermediate gear 52. When the front wheel 4 and rear wheel 5 are retracted into the chassis 1, the motor 6 cuts off the power output, the rear wheel 5 engages with the brake block 11, and the intermediate wheel plate 55 is rotatably connected to the axle 8. The rotational inertia of the axle 8 causes the intermediate wheel plate 55 to rotate in the opposite direction to the rotation of the gear ring 51. Simultaneously, the reverse brake cylinder 56 extends, and the reverse brake pad 57 extends from the side of the intermediate wheel plate 55. The reverse brake pad 57 contacts the ground, generating friction, reducing the inertia of the flatbed movement, causing the flatbed to stop moving quickly, and reducing the friction between the chassis 1 and the ground.

[0044] In this embodiment, the reverse brake pad 57 is an elastic arc plate, which can reduce the vibration impact on the intermediate wheel plate 55 when the reverse brake pad 57 contacts the ground.

[0045] refer to Figure 9 The intermediate wheel plate 55 on one side of the intermediate gear 52 is rotatably connected to the wheel axle 8 via a follower wheel plate bracket 82. The intermediate wheel plate 55 on the other side of the intermediate gear 52 is rotatably connected to the wheel axle 8 via a drive wheel plate bracket 85. A limiting sleeve 83 is fixedly sleeved on the wheel axle 8. A limiting ring 84 matching the outer ring of the limiting sleeve 83 is provided on the drive wheel plate bracket 85. A limiting cylinder 841 for engaging and disengaging the limiting ring 84 and the limiting sleeve 83 is provided inside the limiting ring 84. A contact block 842 is provided at the working end of the limiting cylinder 841. When the limiting cylinder 841 extends, the contact block 842 engages with the limiting sleeve 83, and the intermediate wheel plate 55 is fixedly connected to the wheel axle 8. When the limiting cylinder 841 retracts, the contact block 842 disengages from the limiting sleeve 83, and the intermediate wheel plate 55 is rotatably connected to the wheel axle 8.

[0046] Example 3

[0047] Unlike Embodiment 2, this target object loading active drive platform is also equipped with a drive cylinder 9 for driving the limiting cylinder 841 and the reverse braking cylinder 56. The air outlet hose 10 of the drive cylinder 9 is connected to the air inlet of the limiting cylinder 841 and the reverse braking cylinder 56 through the air ring groove 851 inside the active wheel plate bracket 85. A rotating plate 86 is provided outside the air ring groove 851 of the active wheel plate bracket 85, and the rotating plate 86 is rotatably sealed to the air ring groove 851. The rotating plate 86 is fixedly connected to one end of the air outlet hose 10 to adapt to the rotation or fixed state of the intermediate wheel plate 55 and maintain the normal air supply to the air ring groove 851.

[0048] refer to Figure 10The drive cylinder 9 contains an upper part of a starter rod 92, a piston 93, and a return spring 94. The lower end of the starter rod 92 has a starter block 91 corresponding to the position of the wheel axle 8. The upper end of the starter rod 92 is fixedly connected to the piston 93. A return spring 94 is installed between the piston 93 and the top of the drive cylinder 9. A lower limit ring 95 is installed below the piston 93, and an upper limit ring 96 is installed above the piston 93. When the drive platform moves normally, the return spring 94 keeps the piston 93 on the upper surface of the upper limit ring 96; when the wheel retracts into the chassis 1, the piston 93 moves to the lower surface of the lower limit ring 95.

[0049] Furthermore, the upper space of the upper limit ring 96 is connected to the gas ring groove 851 via the exhaust hose 10. The exhaust hose 10 has two branch lines at its connection point with the drive cylinder 9, including an inlet pipe and an outlet pipe. A one-way inlet valve 101 is installed on the inlet pipe, and a high-pressure one-way outlet valve 102 is installed on the outlet pipe. The opening pressure of the high-pressure one-way outlet valve 102 is greater than that of the one-way inlet valve 101. When the piston 93 moves to the lower surface of the lower limit ring 95, the high-pressure one-way outlet valve 102 is used to guide the high-pressure gas inside the drive cylinder 9 into the exhaust hose 10 in one direction. When the piston 93 returns to its original position, the one-way inlet valve 101 guides the gas in the exhaust hose 10 into the drive cylinder 9 in one direction.

[0050] In this embodiment, a roller is provided below the starting block 91 to reduce friction between the axle 8 and the starting block 91.

[0051] During normal walking, the limit cylinder 841 extends, the contact block 842 engages with the limit sleeve 83, the intermediate wheel plate 55 is fixedly connected to the wheel axle 8, and the reverse braking cylinder 56 is in the retracted state.

[0052] As the front wheel 4 and rear wheel 5 retract into the chassis 1, the axle 8 pushes the starting block 91 and starting rod 92 upwards. The piston 93 compresses the gas in the space above the piston 93, increasing the gas pressure. When the piston 93 moves to the lower surface of the lower limit ring 95, the rear wheel 5 is completely retracted into the chassis 1 and braked by the brake block 11. The high-pressure one-way exhaust valve 102 opens, guiding the high-pressure gas inside the drive cylinder 9 into the exhaust hose 10. Through the exhaust hose 10, the gas inside the drive cylinder 9 enters the reverse braking cylinder 56 and the limit cylinder 841. The reverse braking cylinder 56 extends, and the reverse brake pad 57 extends from the side of the intermediate wheel plate 55. The limit cylinder 841 retracts, the contact block 842 separates from the limit sleeve 83, and the intermediate wheel plate 55 is rotatably connected to the axle 8.

[0053] When the front wheel 4 and rear wheel 5 are reset, the relative position of the wheel axle 8 drops, the return spring 94 pushes the piston 93 to move down, negative pressure is generated in the space above the piston 93, the gas inside the reverse braking cylinder 56 and the limit cylinder 841 is discharged, the reverse braking cylinder 56 retracts, the reverse braking pad 57 retracts into the middle wheel plate 55, the limit cylinder 841 extends, the contact block 842 engages with the limit sleeve 83, the middle wheel plate 55 is fixedly connected to the wheel axle 8, and the vehicle returns to a normal walking state.

[0054] During normal walking, the limiting cylinder 841 extends, the contact block 842 engages with the limiting sleeve 83, the intermediate wheel plate 55 is fixedly connected to the wheel axle 8, and the final air outlet end and initial air inlet end of the air outlet hose 10 are connected.

[0055] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A target loading active drive platform, comprising a chassis (1) and a cover plate (2), wherein the surface of the cover plate (2) is provided with a fixing frame (3) for fixing the load, and the chassis (1) is provided with a front wheel (4), a rear wheel (5), a motor (6) for driving the rear wheel (5) to rotate, and a steering mechanism for driving the front wheel (4) to steer, characterized in that, The suspension includes a self-protection structure, which includes a universal joint (7), a rear follower cylinder (501), a rear swing arm (502), a front follower cylinder (401), and a front swing arm (402). The axle (8) of the rear wheel (5) is connected to the output end of the motor (6) through the universal joint (7). The axle (8) is movably connected to the chassis (1) through the rear follower cylinder (501) and the rear swing arm (502). The front wheel (4) is movably connected to the chassis (1) through the front follower cylinder (401) and the front swing arm (402). The rear wheel (5) is provided with an internal support structure, which includes a gear ring (51), an intermediate gear (52) and an internal gear (53). The intermediate gear (52) meshes with the gear ring (51) and the internal gear (53) respectively. The gear ring (51) is fixedly connected to the inner ring of the rear wheel (5). The internal gear (53) is fixedly sleeved on the inner sleeve (81) on the wheel axle (8). The two ends of the intermediate gear (52) are provided with intermediate wheel plates (55). The intermediate gear (52) and the intermediate wheel plates (55) are rotatably connected through an intermediate shaft (54). The intermediate wheel plates (55) are rotatably connected to the wheel axle (8). The chassis (1) is provided with a brake block (11) above the rear wheel (5). The chassis (1) is provided with a limiting structure between the intermediate wheel plates (55) and the wheel axle (8). A plurality of reverse braking cylinders (56) are evenly arranged around the cylindrical side of the intermediate wheel plate (55), and a reverse braking pad (57) is provided at the working end of the reverse braking cylinder (56).

2. The target loading active drive platform according to claim 1, characterized in that, The intermediate wheel plate (55) on one side of the intermediate gear (52) is rotatably connected to the wheel axle (8) through the follower wheel plate bracket (82); The intermediate wheel plate (55) on the other side of the intermediate gear (52) is rotatably connected to the wheel axle (8) through the active wheel plate bracket (85). A limiting sleeve (83) is fixedly sleeved on the wheel axle (8). A limiting ring (84) matching the outer ring of the limiting sleeve (83) is provided on the active wheel plate bracket (85). A limiting cylinder (841) for engaging and disengaging the limiting ring (84) and the limiting sleeve (83) is provided inside the limiting ring (84). A contact block (842) is provided at the working end of the limiting cylinder (841).

3. The target loading active drive platform according to claim 2, characterized in that, It also includes a drive cylinder (9) for driving the limit cylinder (841) and the reverse braking cylinder (56); The air outlet hose (10) of the drive cylinder (9) is connected to the air inlet of the limit cylinder (841) and the reverse braking cylinder (56) through the air ring groove (851) inside the drive wheel plate bracket (85). A rotating plate (86) is provided outside the air ring groove (851) of the drive wheel plate bracket (85), and the rotating plate (86) is rotatably and sealingly connected to the air ring groove (851).

4. The target loading active drive platform according to claim 3, characterized in that, The drive cylinder (9) is equipped with the upper part of the starter rod (92), the piston (93) and the return spring (94). The lower end of the starter rod (92) is equipped with a starter block (91) corresponding to the position of the wheel axle (8). The upper end of the starter rod (92) is fixedly connected to the piston (93). The return spring (94) is provided between the piston (93) and the top of the drive cylinder (9). A lower limiting ring (95) is provided below the piston (93), and an upper limiting ring (96) is provided above the piston (93). The upper space of the upper limiting ring (96) is connected to the gas ring groove (851) through the gas outlet hose (10).

5. The target loading active drive platform according to claim 4, characterized in that, The air outlet hose (10) is connected to the drive cylinder (9) with two branch pipes. The two branch pipes include an air inlet pipe and an air outlet pipe. A one-way air inlet valve (101) is provided on the air inlet pipe, and a high-pressure one-way air outlet valve (102) is provided on the air outlet pipe.

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